A self-propelled robot and method for crack detection in concrete piers

Abstract

This invention relates to the field of concrete crack detection technology, and discloses a self-propelled robot and method for detecting cracks in concrete piers. It aims to solve the problem of automatic crack detection in concrete piers. The detection robot includes a robot body, a self-propelled mechanical device, a laser rangefinder, and an ultrasonic device. A control device controls the self-propelled mechanical device to move the detection robot autonomously on the surface of the concrete pier. Simultaneously, based on the rangefinder data, once the robot reaches its maximum height, the self-propelled mechanical device stops operating, and the ultrasonic device acquires ultrasonic data of the current position of the concrete pier. Crack detection is performed based on the ultrasonic data. After a preset detection time, the self-propelled mechanical device continues to move the detection robot on the surface of the concrete pier. This invention achieves automatic crack detection in concrete piers, reduces user operation, improves detection efficiency, and is suitable for taller concrete piers.

Description

Technical Field

[0001] This invention relates to the field of concrete crack detection technology, specifically to a self-propelled concrete pier crack detection robot and detection method. Background Technology

[0002] Concrete, as a stable building material, is widely used in various fields. Its excellent compressive strength and corrosion resistance are highly valued, making it an irreplaceable material in bridge pier construction, particularly in highway engineering. Concrete cracking is a common phenomenon in concrete structures, caused by a multitude of factors. The presence of cracks affects the strength of concrete structures, thus reducing their service life.

[0003] The detection of concrete cracks has long been a research focus for scholars. Ultrasonic testing is commonly used and widely applied, but it typically involves manual labor combined with instruments, resulting in low efficiency. Manual inspection is particularly difficult and risky in hazardous or inaccessible areas. In highway bridges, the detection of cracks in concrete piers often requires the erection of steel pipe scaffolding and ladders for manual inspection due to the piers' height, which is time-consuming, labor-intensive, and inefficient.

[0004] Application publication number CN114964094A discloses a device and method for rapid detection of concrete cracks using a drone. This method utilizes the drone's upward propulsion and stable hovering in the air. The drone adheres to the concrete surface via a suction cup, then the drone's drive mechanism is stopped, and the detection is performed. While this method can conveniently detect concrete cracks, it cannot be automated. It requires user operation of the drone, placing high demands on the user, and is cumbersome and inefficient. Summary of the Invention

[0005] The present invention aims to propose a self-propelled concrete pier crack detection robot and detection method to realize automatic crack detection of concrete piers, thereby reducing user operation and improving crack detection efficiency.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0007] In a first aspect, a self-propelled concrete pier crack detection robot is provided. The detection robot includes: a robot body, a self-propelled mechanical device, a laser rangefinder, an ultrasonic device, and a storage device. The robot body is equipped with a control device. The self-propelled mechanical device is mechanically connected to the robot body. The control device is electrically connected to the self-propelled mechanical device, the laser rangefinder, the ultrasonic device, and the storage device, respectively. The laser rangefinder, the ultrasonic device, and the storage device are disposed in the robot body.

[0008] The self-propelled mechanical device is used to fix the inspection robot to the surface of the concrete pier and to drive the inspection robot to move on the surface of the concrete pier under the control of the control device.

[0009] The laser ranging device is used to acquire ranging data in real time, and the ranging data is used to represent the rising height of the detection robot;

[0010] The ultrasonic device is used to acquire ultrasonic data of the current position of the concrete pier under the control of the control device.

[0011] The storage device is used to store the ranging data and the ultrasonic data;

[0012] The control device is used to receive operating parameters, control the self-propelled mechanical device to drive the inspection robot to move autonomously on the surface of the concrete pier according to the operating parameters, and determine whether the rising height of the inspection robot has reached the detection height according to the distance measurement data. When the rising height of the inspection robot reaches the detection height, the self-propelled mechanical device is controlled to stop running, and the ultrasonic device is controlled to acquire ultrasonic data of the current position of the concrete pier. Crack detection is performed on the current position of the concrete pier according to the ultrasonic data. After the detection time reaches the preset time, the self-propelled mechanical device is controlled to continue to drive the inspection robot to move on the surface of the concrete pier.

[0013] Furthermore, the self-propelled mechanical device includes: a motor, a transmission module, a drive wheel, a driven wheel, and an auxiliary balancing device, wherein the motor is electrically connected to the control device via a first solenoid valve;

[0014] The auxiliary balancing device is used to fix the driving wheel and the driven wheel to the surface of the concrete pier column;

[0015] The control device is specifically used to control the opening and closing of the first solenoid valve. The motor is used to run when the first solenoid valve is open, and during operation, it drives the drive wheel to rotate through the transmission module. The driven wheel follows the drive wheel to rotate, driving the detection robot to move on the surface of the concrete pier.

[0016] Furthermore, the auxiliary balancing device includes: two elongated supports, at least two L-shaped supports, and the same number of springs as the supports. The two elongated supports are symmetrically arranged on both sides of the robot body through at least two L-shaped supports. The two ends of the springs are mechanically connected to the horizontal and vertical rods of the L-shaped supports, respectively. Each elongated support has an auxiliary wheel at both ends. The auxiliary wheel is fixed to the two sides of the concrete pier under the elastic force of the spring.

[0017] Furthermore, the horizontal and vertical members are telescopic members.

[0018] Furthermore, the detection robot also includes a camera and a GPS positioning device, which are mounted on the robot body and electrically connected to the control device.

[0019] The camera is used to acquire image data of the current position of the concrete pier in real time.

[0020] The GPS positioning device is used to acquire the GPS positioning data of the detection robot;

[0021] The control device is also used to control the camera to stop operating when the detection robot reaches the detection height, generate a visualized three-dimensional model of the concrete pier based on the image data, and annotate the GPS positioning data and distance measurement data in the visualized three-dimensional model.

[0022] Furthermore, the control device is specifically used to determine whether there is a crack at the current position of the concrete pier column based on the ultrasonic data, and when a crack exists, to determine the length, width and depth of the crack, and to mark the crack at the corresponding position in the visualized three-dimensional model.

[0023] Furthermore, the control device is also used to send the visualized 3D model to the display screen for display.

[0024] Furthermore, the operating parameters include: the moving speed of the detection robot, the overlap rate of the camera images, the detection height, and the preset duration.

[0025] Furthermore, it also includes: a remote control device, which is communicatively connected to the control device;

[0026] The remote control device is used to send corresponding control signals to the control device. The control signals are used to control the rising and falling of the detection robot and the speed of rising and falling, as well as to control the start or stop of the ultrasonic device.

[0027] The control device is also used to activate the manual mode after receiving a control signal from the remote control device, and to control the self-propelled mechanical device and the ultrasonic device according to the control signal.

[0028] Secondly, a method for detecting cracks in self-propelled concrete piers is provided, the method comprising at least the following steps:

[0029] Step 1: Fix the self-propelled concrete pier crack detection robot described in the first aspect onto the surface of the concrete pier, set the operating parameters and start the detection robot;

[0030] Step 2: The control device controls the self-propelled mechanical device to drive the inspection robot to move autonomously on the surface of the concrete pier according to the operating parameters.

[0031] Step 3: The control device determines whether the rising height of the detection robot has reached the detection height based on the ranging data. If so, it controls the self-propelled mechanical device to stop running and controls the ultrasonic device to acquire ultrasonic data of the current position of the concrete pier. Crack detection is performed on the current position of the concrete pier based on the ultrasonic data.

[0032] Step 4: After the detection time reaches the preset time, the control device continues to control the self-propelled mechanical device to drive the detection robot to move on the surface of the concrete pier and enter step 3.

[0033] The beneficial effects of this invention are as follows: The self-propelled concrete pier crack detection robot and method described in this invention fix the detection robot to the concrete pier using a self-propelled mechanical device. This self-propelled mechanical device also drives the detection robot to move up and down on the surface of the concrete pier. Combined with a laser rangefinder and an ultrasonic device, it achieves automatic detection of cracks in the concrete pier. Users only need to fix the detection robot to the concrete pier and set the operating parameters, reducing user operation and improving crack detection efficiency. By setting up a camera and processing the image data acquired by the camera to generate a visualized 3D model, and marking cracks in the visualized 3D model, users can quickly view the location and size of cracks based on the visualized 3D model, improving the crack detection effect. Furthermore, a remote control device can be set up, allowing users to select automatic or manual mode for crack detection according to actual needs, expanding the application scenarios of the detection robot. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the electrical principle of the self-propelled concrete pier crack detection robot according to an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the structure of the self-propelled concrete pier crack detection robot according to an embodiment of the present invention;

[0036] Figure 3 This is a top view of the self-propelled concrete pier crack detection robot described in an embodiment of the present invention;

[0037] Figure 4 This is a front view of the self-propelled concrete pier crack detection robot described in an embodiment of the present invention;

[0038] Figure 5 This is a side view of the self-propelled concrete pier crack detection robot described in an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the auxiliary balancing device described in an embodiment of the present invention;

[0040] Figure 7 This is a schematic flowchart of the crack detection method for self-propelled concrete piers according to an embodiment of the present invention.

[0041] Figure 8 This is a schematic diagram of the installation of the self-propelled concrete pier crack detection robot according to an embodiment of the present invention;

[0042] Explanation of reference numerals in the attached figures:

[0043] 1-Concrete pier, 2-Inspection robot, 3-Robot body, 4-Auxiliary balancing device, 5-Long strip support, 6-Signal transmitting and receiving device, 7-Camera, 8-Laser rangefinder, 9-Drive wheel, 10-Ultrasonic device, 11-Spring, 12-Driven wheel, 13-L-shaped support, 14-Auxiliary wheel. Detailed Implementation

[0044] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0045] This invention aims to achieve automated crack detection in concrete piers, thereby reducing user operations and improving crack detection efficiency. It provides a self-propelled robot and method for crack detection in concrete piers. The main technical solution includes: a robot body, a self-propelled mechanical device, a laser rangefinder, an ultrasonic device, and a storage device. The robot body contains a control device. The self-propelled mechanical device is mechanically connected to the robot body. The control device is electrically connected to the self-propelled mechanical device, the laser rangefinder, the ultrasonic device, and the storage device. The laser rangefinder, the ultrasonic device, and the storage device are located within the robot body. The self-propelled mechanical device is used to fix the detection robot to the surface of the concrete pier and to move the detection robot on the surface of the concrete pier under the control of the control device. The laser rangefinder is used to acquire distance measurement data in real time. The data is used to represent the rising height of the inspection robot; the ultrasonic device is used to acquire ultrasonic data of the current position of the concrete pier under the control of the control device; the storage device is used to store the ranging data and the ultrasonic data; the control device is used to receive operating parameters, control the self-propelled mechanical device to drive the inspection robot to move on the surface of the concrete pier according to the operating parameters, and determine whether the rising height of the inspection robot has reached the detection height according to the ranging data. When the rising height of the inspection robot reaches the detection height, the self-propelled mechanical device is controlled to stop running, and the ultrasonic device is controlled to acquire ultrasonic data of the current position of the concrete pier. Crack detection is performed on the current position of the concrete pier according to the ultrasonic data, and after the detection time reaches the preset time, the self-propelled mechanical device is controlled to continue to drive the inspection robot to move on the surface of the concrete pier.

[0046] Specifically, the inspection robot is fixed to the surface of the concrete pier by a self-propelled mechanical device and can move up and down on the surface. When crack detection is required on the concrete pier, the self-propelled mechanical device fixes the inspection robot to the bottom of the concrete pier, the operating parameters are set, and the inspection robot is started. The control device controls the self-propelled mechanical device to move the inspection robot upward on the concrete pier surface according to the operating parameters. At the same time, the laser rangefinder monitors the robot's rising height in real time. When the rising height reaches the detection height, the control device stops the self-propelled mechanical device and starts the ultrasonic device to detect cracks at the current location on the concrete pier. When the detection time reaches the preset time, the ultrasonic device stops, and the self-propelled mechanical device continues to move the inspection robot upward. This process is repeated until the crack detection of the entire concrete pier is completed. In the above process, the user only needs to fix the inspection robot, set the operating parameters, and start the inspection robot. There is no need to control the movement of the inspection robot during the detection process, reducing user operation, realizing automatic detection of cracks in concrete piers, and improving crack detection efficiency.

[0047] Example

[0048] Please see Figures 1 to 6 The self-propelled concrete pier crack detection robot of the present invention includes: robot body 3, self-propelled mechanical device, GPS positioning device, camera 7, laser rangefinder 8, ultrasonic device 10 and storage device. The robot body 3 is equipped with a control device. The self-propelled mechanical device is mechanically connected to the robot body 3. The control device is electrically connected to the self-propelled mechanical device, GPS positioning device, camera 7, laser rangefinder 8, ultrasonic device 10 and storage device respectively. The GPS positioning device, camera 7, laser rangefinder 8, ultrasonic device 10 and storage device are set in the robot body 3.

[0049] In this embodiment, the control device is an MCU, i.e., a microprocessor controller, but it is not limited to this. The control device can also be a central processing unit or other processors with processing and computing functions.

[0050] In this embodiment, the self-propelled mechanical device includes: a motor, a transmission module, a drive wheel 9, a driven wheel 12, and an auxiliary balancing device 4. The motor is electrically connected to the control device through a first solenoid valve. The auxiliary balancing device 4 can fix the drive wheel 9 and the driven wheel 12 to the surface of the concrete pier. The control device can control the operation of the motor by switching the first solenoid valve. When the motor is running, it drives the drive wheel 9 to rotate through the transmission module. When the detection robot is fixed to the surface of the concrete pier, the driven wheel 12 rotates with the drive wheel 9, driving the detection robot to move on the surface of the concrete pier.

[0051] In this embodiment, the auxiliary balancing device 4 includes: two elongated supports 5, at least two L-shaped supports 13, and the same number of springs 11 as the supports. The L-shaped supports 13 are composed of horizontal members, vertical members, and arc-shaped members. In this embodiment, the horizontal and vertical members are telescopic members, and their lengths can be adjusted according to the concrete cross-sectional dimensions.

[0052] Among them, two long strip brackets 5 are symmetrically arranged on both sides of the robot body 3 through at least two L-shaped brackets 13. The two ends of the spring 11 are mechanically connected to the horizontal and vertical rods of the L-shaped bracket 13 respectively. Each long strip bracket 5 has an auxiliary wheel 14 at both ends. The auxiliary wheel 14 is fixed to the surface of the concrete pier under the elastic force of the spring 11.

[0053] In this embodiment, the camera 7 is a rotatable, high-resolution, fast-photography camera. The camera 7 can be connected to the control device via a second electronic valve, and the control device can control the camera 7 to take pictures via the second solenoid valve.

[0054] In this embodiment, the laser ranging device 8 includes a laser transmitter and a laser receiver. The laser ranging device 8 can be connected to the control device through a third electronic valve. The control device can control the laser ranging device 8 to perform ranging through the third solenoid valve, thereby determining the rising height of the detection robot.

[0055] In this embodiment, the ultrasonic device 10 includes an ultrasonic transmitter and an ultrasonic receiver. Both the ultrasonic transmitter and the ultrasonic receiver are equipped with telescopic devices and are connected to the pier column using a coupling agent. The ultrasonic device 10 can be connected to a control device through a fourth electronic valve. The control device can control the ultrasonic device 10 to start and stop through a fourth solenoid valve, thereby realizing the detection of cracks in the concrete pier column.

[0056] In this embodiment, the detection robot may also include a remote control device, and a signal transmitting and receiving device 6 connected to the control device may also be provided on the robot body. The remote control device sends corresponding control signals to the control device through the signal transmitting and receiving device 6.

[0057] In this embodiment, the control device of the detection robot can also communicate with a host computer via a communication module. The host computer is equipped with a display screen, and the control device can send relevant data or images to the display screen of the host computer for display. The communication module can be Bluetooth, WiFi, serial port, or Ethernet, etc.

[0058] Please see Figure 7 Based on the aforementioned self-propelled concrete pier crack detection robot, this embodiment provides a method for detecting cracks in self-propelled concrete piers, which can automatically detect cracks in concrete piers, specifically including the following steps:

[0059] Step 1: Fix the self-propelled concrete pier crack detection robot onto the surface of the concrete pier, set the operating parameters, and start the detection robot.

[0060] Please see Figure 8 The inspection robot is manually installed at the bottom of the concrete pier by the staff, who then power it on and establish a communication connection between the robot and the host computer. After installation, the robot is fixed to the surface of the concrete pier by the elastic force of the spring 11 in its self-propelled mechanical device, with the drive wheel 9, driven wheel 12, and auxiliary wheel 14 fixed to the front of the pier. The drive wheel 9 and driven wheel 12 are fixed to the front of the pier, while the auxiliary wheels 14 are fixed to the sides of the pier.

[0061] Step 2: The control device controls the self-propelled mechanical device to drive the inspection robot to move autonomously on the surface of the concrete pier according to the operating parameters.

[0062] The operating parameters include the robot's moving speed, camera overlap rate, detection height, and preset duration. In this embodiment, the operator can start the robot via remote control. Once started, the control device opens the first solenoid valve, activating the motor. The motor drives the drive wheel 9 through the transmission module, causing the robot to rise from the bottom of the concrete pier. The driven wheel 12 and auxiliary wheel 14 follow the drive wheel 9. Simultaneously, the control device opens the third solenoid valve, activating the laser rangefinder 8. The laser rangefinder 8 acquires real-time distance measurement data indicating the robot's rising height. The control device also opens the second solenoid valve, activating the camera 7 to capture image data.

[0063] Step 3: The control device determines whether the rising height of the detection robot has reached the detection height based on the ranging data. If so, it controls the self-propelled mechanical device to stop running and controls the ultrasonic device to acquire ultrasonic data of the current position of the concrete pier. Crack detection is performed on the current position of the concrete pier based on the ultrasonic data.

[0064] The control device of the detection robot receives ranging data in real time and determines whether the robot's rising height HS has reached the detection height, where the detection height is nHR, HR is a preset height, and n = 1, 2, 3, ... That is, when the robot is judged for the first time, n = 1; when it is judged for the second time, n = 2, and so on. When it is determined that the robot's rising height Hs has reached the detection height nHr, the control device closes the first solenoid valve, the motor stops running, and the robot stops rising. The control device also closes the second solenoid valve, the camera 7 stops taking pictures, and the control device opens the fourth solenoid valve, activating the ultrasonic device 10. The ultrasonic device 10 acquires ultrasonic data at the current position of the concrete pier. After acquiring the ultrasonic data, the control device determines whether there is a crack at the current position of the concrete pier. If a crack is found, it determines the length, width, and depth of the crack, thus completing the crack detection at the current position of the concrete pier.

[0065] Step 4: After the detection time reaches the preset time, the control device continues to control the self-propelled mechanical device to drive the detection robot to move on the surface of the concrete pier and enter step 3.

[0066] After the crack detection time TS reaches the preset time TR, the control device controls the fourth solenoid valve to close, the ultrasonic device 10 stops running, and then the control device controls the first solenoid valve to open, the motor continues to run, and drives the detection robot to continue to rise through the transmission module. At the same time, the control device controls the second solenoid valve to open, and the camera 7 runs to take pictures and acquire image data.

[0067] By analogy, repeat the above process until the crack detection of the entire concrete pier column is completed.

[0068] In this embodiment, image data, ranging data, ultrasonic data, and GPS positioning data are all stored in a storage device for easy viewing and management by staff. The control device can also send the above data to the host computer via the communication module, and can also send the real-time image of the camera 7 to the display screen of the host computer for display.

[0069] To further facilitate user viewing, in this embodiment, the control device can also generate a visualized 3D model of the concrete pier based on the image data acquired by the camera 7, and annotate the GPS positioning data and distance measurement data in the visualized 3D model.

[0070] Specifically, GPS positioning data, including latitude, longitude, and elevation, is reflected in the photo's attributes. Image processing software such as Photoscan and Pix4D are used to process the photos. These software programs are capable of batch processing large numbers of photos to create visualized 3D models. The image processing software then transforms the physical concrete pier into a visualized 3D model. The annotated visualized 3D model is then sent to a host computer display screen. Staff can then view the specific location and size of cracks in the concrete pier through the host computer, providing guidance for crack treatment.

[0071] Based on the aforementioned self-propelled concrete pier crack detection robot, this embodiment can also achieve manual detection of concrete pier cracks by manually controlling the movement of the detection robot, thereby improving the versatility of the detection robot. The manual detection method includes the following steps:

[0072] First, the inspection robot is manually installed at the bottom of the concrete pier by the staff, and then powered on and connected to the host computer. After the inspection robot is installed at the bottom of the concrete pier, it is fixed to the surface of the concrete pier by the elastic force of the spring 11 in the self-propelled mechanical device, with the drive wheel 9, driven wheel 12, and auxiliary wheel 14. The drive wheel 9 and driven wheel 12 are fixed to the front of the concrete pier, and the auxiliary wheel 14 is fixed to both sides of the concrete pier.

[0073] Then, the staff sends corresponding control signals to the inspection robot via remote control. Upon receiving the control signals, the control device activates manual mode and opens or closes the corresponding solenoid valves according to the control signals, thereby starting or stopping the self-propelled mechanical device, camera 7, and ultrasonic device 10. In manual mode, camera 7 transmits real-time images to the display screen of the host computer. The staff can check whether there are cracks on the surface of the concrete pier. If surface cracks are found, the inspection robot is stopped near the crack, and the ultrasonic device 10 is manually activated to perform multiple internal inspections of the crack, recording the specific position parameters of the inspection robot and storing the collected ultrasonic data. If no surface cracks are found, the inspection robot continues to rise.

[0074] Based on the stress characteristics of concrete piers, multiple ultrasonic tests can be performed on the locations of potential internal cracks. The detection robot can be manually operated to the specific location, the ultrasonic device can be manually activated, and multiple internal tests can be performed on the cracks. The parameters of the specific location of the detection robot are recorded, and the ultrasonic data is collected by the storage device.

[0075] Finally, the collected ultrasonic data is processed by ultrasonic analysis software to measure the length, width, and depth of cracks in the concrete pier. Combined with the recorded parameters of the specific location of the detection robot, the exact location of the crack in the concrete pier can be determined.

[0076] In summary, the self-propelled concrete pier crack detection robot and method described in this embodiment fix the detection robot to the concrete pier using a self-propelled mechanical device. This device also moves the robot up and down across the concrete pier surface. Combined with a laser rangefinder and ultrasonic device, it achieves automatic crack detection in the concrete pier. Users only need to fix the robot to the pier and set the operating parameters, reducing user intervention and improving crack detection efficiency. By setting up a camera and processing the image data acquired by the camera to generate a visualized 3D model, and marking cracks in the visualized 3D model, users can quickly view the location and size of cracks, improving the crack detection effect. Furthermore, a remote control device can be set up, allowing users to select automatic or manual mode for crack detection according to actual needs, expanding the application scenarios of the detection robot.

Claims

1. A self-propelled concrete pier crack detection robot, characterized in that, The detection robot includes: a robot body, a self-propelled mechanical device, a laser rangefinder, an ultrasonic device, and a storage device. The robot body is equipped with a control device. The self-propelled mechanical device is mechanically connected to the robot body. The control device is electrically connected to the self-propelled mechanical device, the laser rangefinder, the ultrasonic device, and the storage device. The laser rangefinder, the ultrasonic device, and the storage device are located in the robot body. The self-propelled mechanical device is used to fix the inspection robot to the surface of the concrete pier and to drive the inspection robot to move on the surface of the concrete pier under the control of the control device. The laser ranging device is used to acquire ranging data in real time, and the ranging data is used to represent the rising height of the detection robot; The ultrasonic device is used to acquire ultrasonic data of the current position of the concrete pier under the control of the control device. The storage device is used to store the ranging data and the ultrasonic data; The control device is used to receive operating parameters, control the self-propelled mechanical device to drive the inspection robot to move autonomously on the surface of the concrete pier according to the operating parameters, and determine whether the rising height of the inspection robot has reached the inspection height according to the distance measurement data. When the rising height of the inspection robot reaches the inspection height, the self-propelled mechanical device is controlled to stop running, and the ultrasonic device is controlled to acquire ultrasonic data of the current position of the concrete pier. Crack detection is performed on the current position of the concrete pier according to the ultrasonic data. After the detection time reaches the preset time, the self-propelled mechanical device is controlled to continue to drive the inspection robot to move on the surface of the concrete pier. The self-propelled mechanical device includes: a motor, a transmission module, a drive wheel, a driven wheel, and an auxiliary balancing device. The motor is electrically connected to the control device through a first solenoid valve. The auxiliary balancing device is used to fix the driving wheel and the driven wheel to the surface of the concrete pier column; The control device is specifically used to control the opening and closing of the first solenoid valve. The motor is used to run when the first solenoid valve is open, and drives the drive wheel to rotate through the transmission module during operation. The driven wheel follows the drive wheel to rotate, driving the detection robot to move on the surface of the concrete pier. The auxiliary balancing device includes: two long strip supports, at least two L-shaped supports, and the same number of springs as the supports. The two long strip supports are symmetrically arranged on both sides of the robot body through at least two L-shaped supports. The two ends of the springs are mechanically connected to the horizontal and vertical rods of the L-shaped supports, respectively. Each long strip support has an auxiliary wheel at both ends. The auxiliary wheel is fixed to the two sides of the concrete pier under the elastic force of the spring.

2. The self-propelled concrete pier crack detection robot as described in claim 1, characterized in that, The horizontal and vertical members are telescopic members.

3. The self-propelled concrete pier crack detection robot as described in claim 1, characterized in that, The detection robot also includes a camera and a GPS positioning device, which are mounted on the robot body and electrically connected to the control device. The camera is used to acquire image data of the current position of the concrete pier in real time. The GPS positioning device is used to acquire the GPS positioning data of the detection robot; The control device is also used to control the camera to stop operating when the detection robot reaches the detection height, generate a visualized three-dimensional model of the concrete pier based on the image data, and annotate the GPS positioning data and distance measurement data in the visualized three-dimensional model.

4. The self-propelled concrete pier crack detection robot as described in claim 3, characterized in that, The control device is specifically used to determine whether there is a crack at the current position of the concrete pier column based on the ultrasonic data, and when a crack exists, to determine the length, width and depth of the crack, and to mark the crack at the corresponding position in the visualized three-dimensional model.

5. The self-propelled concrete pier crack detection robot as described in claim 3, characterized in that, The control device is also used to send the visualized 3D model to the display screen for display.

6. The self-propelled concrete pier crack detection robot as described in claim 3, characterized in that, The operating parameters include: the moving speed of the detection robot, the overlap rate of the camera images, the detection height, and the preset duration.

7. The self-propelled concrete pier crack detection robot as described in any one of claims 1 to 6, characterized in that, Also includes: A remote control device, which is communicatively connected to a control device; The remote control device is used to send corresponding control signals to the control device. The control signals are used to control the rising and falling of the detection robot and the speed of rising and falling, as well as to control the start or stop of the ultrasonic device. The control device is also used to activate the manual mode after receiving a control signal from the remote control device, and to control the self-propelled mechanical device and the ultrasonic device according to the control signal.

8. A method for detecting cracks in self-propelled concrete piers, characterized in that, The method includes the following steps: Step 1: Fix the self-propelled concrete pier crack detection robot according to any one of claims 1 to 7 on the surface of the concrete pier, set the operating parameters and start the detection robot; Step 2: The control device controls the self-propelled mechanical device to drive the inspection robot to move autonomously on the surface of the concrete pier according to the operating parameters. Step 3: The control device determines whether the rising height of the detection robot has reached the detection height based on the ranging data. If so, it controls the self-propelled mechanical device to stop running and controls the ultrasonic device to acquire ultrasonic data of the current position of the concrete pier. Crack detection is performed on the current position of the concrete pier based on the ultrasonic data. Step 4: After the detection time reaches the preset time, the control device continues to control the self-propelled mechanical device to drive the detection robot to move on the surface of the concrete pier and enter step 3.

Images